航空学报 > 2016, Vol. 37 Issue (12): 3774-3782   doi: 10.7527/S1000-6893.2016.0114

应用旋转矩阵的卫星姿态输出反馈机动控制

黄静1,2, 刘刚1,2, 刘付成1,2, 李传江3   

  1. 1. 上海航天控制技术研究所, 上海 201109;
    2. 上海市空间智能控制技术重点实验室, 上海 201109;
    3. 哈尔滨工业大学 航天学院, 哈尔滨 150001
  • 收稿日期:2016-01-11 修回日期:2016-04-06 出版日期:2016-12-15 发布日期:2016-04-18
  • 通讯作者: 黄静,Tel.:021-24183416,E-mail:huangjing04415@163.com E-mail:huangjing04415@163.com
  • 作者简介:黄静,女,博士,工程师。主要研究方向:航天器姿态与轨道控制,鲁棒控制,最优控制。Tel.:021-24183416,E-mail:huangjing04415@163.com;刘刚,男,博士,工程师。主要研究方向:航天器姿态与轨道控制,鲁棒控制,非线性控制。Tel.:021-24183245,E-mail:unicorn1114@163.com;刘付成,男,博士,研究员。主要研究方向:航天器导航与控制。Tel.:021-24183001,E-mail:liufch@126.com;李传江,男,博士,教授,博士生导师。主要研究方向:航天器姿态与轨道控制,最优控制。Tel.:0451-86413411-8606,E-mail:chuanjiangli@gmail.com
  • 基金资助:

    国家自然科学基金(61304005)

Output feedback attitude maneuver control of satellite using rotation matrix

HUANG Jing1,2, LIU Gang1,2, LIU Fucheng1,2, LI Chuanjiang3   

  1. 1. Shanghai Institute of Spaceflight Control Technology, Shanghai 201109, China;
    2. Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109, China;
    3. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
  • Received:2016-01-11 Revised:2016-04-06 Online:2016-12-15 Published:2016-04-18
  • Supported by:

    National Natural Science Foundation of China (61304005)

摘要:

针对卫星姿态机动控制问题,提出一种只利用向量测量信息的无角速度反馈的输出反馈控制方法。卫星姿态的指向直接通过旋转矩阵进行描述,而不是先进行参数化过程,避免了由欧拉角、修正的罗德里格参数(MRPs)与四元数等姿态描述方式产生的奇异问题与退绕问题。首先,通过向量测量信息与一组期望姿态向量,引入一个新的姿态指向误差向量,并对其性质进行分析。其次,进一步结合主导滤波器的思想,设计了无需角速度信息的卫星姿态机动控制器,并应用Lyapunov理论,对闭环系统的全局稳定性进行了严格的证明。最后,对所提出的控制算法进行了数值仿真,其结果验证了所设计的输出反馈控制算法的可行性和有效性。

关键词: 刚体卫星, 姿态机动, 旋转矩阵, 输出反馈, 向量测量

Abstract:

An output-feedback attitude maneuver control strategy in the absence of angular velocity feedback is proposed for rigid satellite system by solely and directly using unit-length vector measurements. The orientation of a rigid body is described by a rotation matrix directly, rather than by a parameterization, avoiding the undesirable singular problem and unwinding phenomenon caused by Euler angle, quaternion or the modified Rodrigues parameters (MRPs) representations of the attitude. A new orientation error of the rigid body is computed by the vector measurements and a set of desired vector measurements. By using the lead filter, the velocity-free attitude maneuver control law that ensures set-point regulation is developed. Within the Lyapunov framework, the global stability of the close-loop system is guaranteed. Numerical simulation results demonstrate the successful set-point regulation of the proposed output-feedback control strategy.

Key words: rigid satellite, attitude maneuver, rotation matrix, output feedback, vector measurements

中图分类号: